TY - GEN
T1 - Network-aware Shared Autonomy in Bilateral Teleoperation
AU - Chen, Xiao
AU - Michel, Youssef
AU - Sadeghian, Hamid
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this paper, an autonomy allocation approach is proposed for bilateral teleoperation systems to improve user performance under suboptimal communication networks. To achieve this, time-varying communication quality metrics such as delay and jitter are continuously monitored on the teleoperated side, and the autonomy level is dynamically adjusted based on the communication network quality. An autonomous agent is also deployed on the teleoperated side, leveraging preexisting task knowledge for shared autonomy. Additionally, a time-domain passivity approach is employed to maintain communication channel passivity, mitigating the impact of adverse network behavior on task performance. The proposed approach is validated through extensive experiments and user studies, and the result shows our approach significantly improved the performance of the subjects (p< 0.01).
AB - In this paper, an autonomy allocation approach is proposed for bilateral teleoperation systems to improve user performance under suboptimal communication networks. To achieve this, time-varying communication quality metrics such as delay and jitter are continuously monitored on the teleoperated side, and the autonomy level is dynamically adjusted based on the communication network quality. An autonomous agent is also deployed on the teleoperated side, leveraging preexisting task knowledge for shared autonomy. Additionally, a time-domain passivity approach is employed to maintain communication channel passivity, mitigating the impact of adverse network behavior on task performance. The proposed approach is validated through extensive experiments and user studies, and the result shows our approach significantly improved the performance of the subjects (p< 0.01).
UR - http://www.scopus.com/inward/record.url?scp=85214492272&partnerID=8YFLogxK
U2 - 10.1109/Humanoids58906.2024.10769942
DO - 10.1109/Humanoids58906.2024.10769942
M3 - Conference contribution
AN - SCOPUS:85214492272
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 888
EP - 894
BT - 2024 IEEE-RAS 23rd International Conference on Humanoid Robots, Humanoids 2024
PB - IEEE Computer Society
T2 - 23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024
Y2 - 22 November 2024 through 24 November 2024
ER -